Inverse Dynamics Compensation Method for PWS Mobile Manipulators
スポンサーリンク
概要
- 論文の詳細を見る
A robot system composed of a mobile robot and a manipulator is called a "mobile manipulator". In this paper a calculation method of inverse dynamics compensation for a power-wheeled-steering(PWS)mobile manipulator is proposed. Newton-Euler method is used for the compensation calculation. A mobile manipulator dirrers from a floor-fixed manipulator in that it moves according to non-holonomic constraints. As the constraints integrate velocity and angular velocity errors of the mobile manipulator on a floor, the errors influence the hand position and orientation of the mounted manipulator. The integrated errors do not disappear even after the dynamical vibration of the mobile manipulator is settled. Therefore, to reduce the integrated errors, the velocity errors of the mobile manipulator should be reduced. We propose a calculation method, and the effects of the method are confirmed by simulation experiments.
- 一般社団法人日本機械学会の論文
- 1997-06-15
著者
-
ASAKURA Toshiyuki
Faculty of Engineering, Fukui University
-
Fujiwara N
Kanazawa Univ. Ishikawa Jpn
-
Fujiwara Naofumi
Faculty Of Engineering Kanazawa University
-
MINAMI Mamoru
Faculty of Engineering, Fukui University
-
KANBARA Katsuhiro
Hitachi Ltd.
-
Minami Mamoru
Faculty Of Engineering Fukui University
-
Asakura Toshiyuki
Faculty Of Engineering Fukui University
関連論文
- Fault Diagnosis System for Machines Using Neural Networks
- Inverse Dynamics Compensation Method for PWS Mobile Manipulators
- Dynamic Detection of a License Plate Using Neural Network
- LSH-RANSAC : Incremental Matching of Large-Size Maps
- 2A1-66-086 Fish Tracking using Global/Local Search of a GA and Raw-image
- GA-Model-based Scene Recognition using Raw-image and Model-filtering : A Comparative Study between Traditional Filtering and the Concept of Model-filtering
- GA-pattern matching-based manipulator control system for real-time visual servoing
- Position control and explicit force control of constrained motions of a manipulator for accurate grinding tasks
- Position Control and Explicit Force Control of Constrained Motions of a Manipulator for Grinding Tasks
- Fault Diagnosis System for Rotary Machine Based on Fuzzy Neural Networks
- FAULT DIAGNOSIS OF ROTARY MACHINE BY FUZZY NEURAL NETWORKS
- Identification of Nonlinear Time Lag Systems by Improved Genetic Algorithm
- A Stabilization Method for Nonlinear Time-Delay Systems and Its Dynamics
- Fault Diagnosis System of Machine Using Neural Networks and Its Application
- Stabilization of Electropneumatic Valve Positioner Using Simplified Smith Method